//
// Created by ze on 2023/11/8.
//

#ifndef ENCODER_UPRE_MOVEBASE_H
#define ENCODER_UPRE_MOVEBASE_H
#include "UPRE_GLOBAL_DEFINE.h"

//设置浮点数精度，看实际电机情况，选择一个最小电机转速
#define FLOAT_ZERO 0.001f
//电机最大速度
#define MAXSPEED 20000.f
#define SLOWSTARTSPEED 2000.f
typedef struct {
    float AngleFrontInit;
    float AngleLeftInit;
    float AngleRightInit;
}Steering2Zero_;
extern WheelSys SteeringBase;
extern float Yaw;
extern Steering2Zero_ Steering2Zero;

/*********************************************************************************
                                    函数声明
*********************************************************************************/
void robotMoveTask();
void wheelSysOutPut(vector vel, float omega);
void Output_Speed(WheelSys WheelType);
void Output_dir(WheelSys WheelBase);
#endif //ENCODER_UPRE_MOVEBASE_H
